bi_so101_ffp_20260614_175107

该数据集是一个用于机器人技术的数据集，使用LeRobot工具创建。它专注于双手机器人（类型为bi_so_follower）的操控任务。数据集包含动作数据（如左右肩、肘、腕和夹爪的位置，共12个浮点值）、状态观测数据（与动作相同的关节位置）、以及来自多个摄像头的图像观测（包括left_camera1、left_camera3、left_camera4和right_camera2，分辨率分别为480x640和240x320，视频编码为av1，帧率为60fps）。此外，数据集还包括时间戳、帧索引、episode索引、任务索引等元数据。数据集总共有16个episodes、42038帧，数据以parquet文件和视频文件形式存储，总数据大小约为100MB，视频文件大小约为200MB。数据集适用于机器人学习、动作识别和视觉感知等研究任务。

This is a robotics dataset created using the LeRobot tool. It focuses on the manipulation tasks of a dual-arm robot with the type bi_so_follower. The dataset includes action data (12 floating-point values covering positions of the left and right shoulder, elbow, wrist and gripper), state observation data (same joint positions as the action data), and image observations from multiple cameras: left_camera1, left_camera3, left_camera4 and right_camera2, with resolutions of 480x640 and 240x320 respectively, using av1 video encoding and a frame rate of 60fps. Additionally, the dataset contains metadata such as timestamps, frame indices, episode indices and task indices. In total, there are 16 episodes and 42038 frames in the dataset. The data is stored in parquet files and video files, with an overall data size of approximately 100MB, and the video files alone amount to about 200MB. This dataset is applicable to research tasks including robot learning, action recognition and visual perception.

原始信息汇总

数据集概述

• 数据集名称: bi_so101_ffp_20260614_175107
• 许可证: Apache-2.0
• 任务类别: 机器人 (robotics)
• 标签: LeRobot
• 创建工具: 使用 LeRobot 创建

数据集结构

• 数据文件格式: Parquet (位于 data/*/*.parquet)
• 代码库版本: v3.0
• 帧率 (FPS): 60
• 总集数 (Episodes): 16
• 总帧数 (Frames): 42,038
• 总任务数 (Tasks): 1
• 数据文件大小: 100 MB
• 视频文件大小: 200 MB
• 机器人类型: bi_so_follower
• 数据集划分:
  • 训练集 (train): 第 0 到第 15 集 (共 16 集)

特征 (Features)

特征名称	数据类型	形状	描述
action	float32	[12]	动作数据，包含左右双臂 6 个关节位置 (shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper)
observation.state	float32	[12]	观测状态，与 action 的 12 个关节位置对应
observation.images.left_camera1	video	[480, 640, 3]	左摄像头1视频，AV1编码，60 FPS
observation.images.left_camera3	video	[480, 640, 3]	左摄像头3视频，AV1编码，60 FPS
observation.images.left_camera4	video	[240, 320, 3]	左摄像头4视频，AV1编码，60 FPS
observation.images.right_camera2	video	[240, 320, 3]	右摄像头2视频，AV1编码，60 FPS
timestamp	float32	[1]	时间戳
frame_index	int64	[1]	帧索引
episode_index	int64	[1]	集索引
index	int64	[1]	全局索引
task_index	int64	[1]	任务索引

数据路径

• 数据文件: data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
• 视频文件: videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4

其他信息

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